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Documentation Index

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AlpaSim is licensed under the Apache License 2.0. This page provides license information and citation guidelines.

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Apache License 2.0

This project is licensed under the Apache License, Version 2.0 (the “License”). You may not use this file except in compliance with the License.

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License Summary

The Apache License 2.0 is a permissive free software license that:
  • Allows you to freely use, modify, and distribute the software
  • Requires preservation of copyright and license notices
  • Provides an express grant of patent rights from contributors to users
  • Allows you to distribute derivative works under different terms
Copyright 2025 NVIDIA Corporation

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

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Full License Text

The complete license text is available in the LICENSE file in the repository.You can also view the official license at: http://www.apache.org/licenses/LICENSE-2.0

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Citation

If you use AlpaSim in your research, please cite it as follows:

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BibTeX

@software{alpasim_2025,
  author       = {
    NVIDIA and
    Yulong Cao and
    Riccardo de Lutio and
    Sanja Fidler and
    Guillermo Garcia Cobo and
    Zan Gojcic and
    Maximilian Igl and
    Boris Ivanovic and
    Peter Karkus and
    Janick Martinez Esturo and
    Marco Pavone and
    Aaron Smith and
    Ellie Tanimura and
    Michal Tyszkiewicz and
    Michael Watson and
    Qi Wu and
    Le Zhang
  },
  title        = {AlpaSim: A Modular, Lightweight, and Data-Driven Research Simulator for Autonomous Driving},
  year         = {2025},
  month        = {October},
  url          = {https://github.com/NVlabs/alpasim},
}

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Text Citation

NVIDIA, Yulong Cao, Riccardo de Lutio, Sanja Fidler, Guillermo Garcia Cobo,
Zan Gojcic, Maximilian Igl, Boris Ivanovic, Peter Karkus, Janick Martinez Esturo,
Marco Pavone, Aaron Smith, Ellie Tanimura, Michal Tyszkiewicz, Michael Watson,
Qi Wu, and Le Zhang. (2025). AlpaSim: A Modular, Lightweight, and Data-Driven
Research Simulator for Autonomous Driving. https://github.com/NVlabs/alpasim

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Key Contributors

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Project Leadership

Project Lead

Maximilian Igl

Tech Leads

Michal TyszkiewiczMichael Watson

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Core Team

  • Architecture Design & Networking: Michal Tyszkiewicz
  • Infrastructure & Wizard: Maximilian Igl, Aaron Smith, Michal Tyszkiewicz, Michael Watson, Qi Wu, Le Zhang
  • Runtime: Maximilian Igl, Aaron Smith, Ellie Tanimura, Michal Tyszkiewicz, Michael Watson
  • CICD: Maximilian Igl, Aaron Smith
  • Open Sourcing: Guillermo Garcia Cobo, Maximilian Igl, Peter Karkus, Ellie Tanimura, Michael Watson
  • Testing & Debugging: Guillermo Garcia Cobo, Peter Karkus, Ellie Tanimura
  • Data Pipeline: Riccardo de Lutio, Janick Martinez, Le Zhang
  • Driver Integration: Maximilian Igl, Peter Karkus, Michal Tyszkiewicz
  • Evaluation: Yulong Cao, Maximilian Igl
  • Controller: Michael Watson
  • Physics: Riccardo de Lutio
  • Trafficsim: Maximilian Igl, Boris Ivanovic
  • Sanja Fidler
  • Zan Gojcic
  • Boris Ivanovic
  • Marco Pavone
  • Fabian Barajas
  • Kashyap Chitta
  • Ankit Gupta
  • Laura Leal-Taixe
  • Nicole Yang

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License Compliance

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When Using AlpaSim

1

Include License Notice

When distributing AlpaSim or derivative works, include a copy of the Apache License 2.0.
2

Preserve Copyright

Maintain all copyright, patent, trademark, and attribution notices from the source.
3

Document Changes

If you modify the files, include prominent notices stating that you changed the files.
4

Cite the Software

When using AlpaSim in research or publications, please cite using the BibTeX entry above.

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Derivative Works

You may distribute derivative works under different license terms and conditions, provided your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in the Apache License 2.0.

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Disclaimer

No WarrantyThe software is provided “AS IS”, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including but not limited to warranties of MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, or NON-INFRINGEMENT.See the full license text for complete terms and conditions.

GitHub Repository

View source code and license

Apache License 2.0

Read the full license

NVIDIA Legal

NVIDIA legal information

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Next Steps

Contributing

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Security

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Built for researchers, by researchersAccelerating autonomous vehicle development through realistic simulation